https://github.com/cuixing158/visual-based-odometry-estimation-cpp

Stitching and fusion of on-board surround view BEV real world image sequences, odometer estimation and output of large pixel map
https://github.com/cuixing158/visual-based-odometry-estimation-cpp

algorithms bev cpp odometry odometry-estimation opencv orb pose-optimization visual-features

Last synced: about 1 year ago
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Stitching and fusion of on-board surround view BEV real world image sequences, odometer estimation and output of large pixel map

• Host: GitHub
• URL: https://github.com/cuixing158/visual-based-odometry-estimation-cpp
• Owner: cuixing158
• License: other
• Created: 2023-07-21T08:10:04.000Z (almost 3 years ago)
• Default Branch: main
• Last Pushed: 2025-02-02T04:27:22.000Z (over 1 year ago)
• Last Synced: 2025-02-10T14:17:15.027Z (over 1 year ago)
• Topics: algorithms, bev, cpp, odometry, odometry-estimation, opencv, orb, pose-optimization, visual-features
• Language: C++
• Homepage:
• Size: 989 KB
• Stars: 0
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

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README

          

# Visual-Based-Odometry-Estimation-cpp

[![Sponsor](https://img.shields.io/badge/-Sponsor-red?style=for-the-badge&logo=GitHub-Sponsors&logoColor=white)](https://raw.githubusercontent.com/cuixing158/OpticalFlow-Visualization/refs/heads/main/README_media/sponsors.jpg)

Used to reproduce the project [matlab_repo](https://github.com/cuixing158/Visual-Based-Odometry-Estimation2) into C++ code. The input and output results can ensure consistent execution results. Supported on platforms such as TI/Windows/Linux.

用于复现仓库[matlab_repo](https://github.com/cuixing158/Visual-Based-Odometry-Estimation2)的C++工程代码,输入输出结果可以保证达到一致的运行结果。支持在Ti/win/linux等平台运行。

## Requirements

Open C++ Library:

- OpenCV 3/4.x（Open Source Computer Vision Library）

Complier

- C++ Compiler (e.g., GCC, Clang, or MSVC)

## How to use

```bash

git clone --recurse-submodules https://github.com/cuixing158/Visual-Based-Odometry-Estimation-cpp.git

cd Visual-Based-Odometry-Estimation-cpp

mkdir build  

cd build

cmake ..

make

```

## Demonstration

Loop closure detection and optimization result：

![Result](images/bigImgCopy1.jpg)